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DBViewer: added option to ignore optimized graph guess when detecting more loop closures

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matlabbe
2024-07-19 14:02:03 -07:00
parent 41fe47efdf
commit 08a44ec44f
3 changed files with 89 additions and 64 deletions
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guilib/src/ui/DatabaseViewer.ui
+80 -60
View File
@@ -61,7 +61,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>307</width>
<width>417</width>
<height>389</height>
</rect>
</property>
@@ -392,7 +392,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>306</width>
<width>416</width>
<height>389</height>
</rect>
</property>
@@ -1634,7 +1634,7 @@
<item>
<widget class="QToolBox" name="toolBox">
<property name="currentIndex">
<number>1</number>
<number>2</number>
</property>
<widget class="QWidget" name="page_3">
<property name="geometry">
@@ -2458,24 +2458,17 @@
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>226</width>
<height>192</height>
<y>-42</y>
<width>298</width>
<height>272</height>
</rect>
</property>
<attribute name="label">
<string>Detect more loop closures</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_10" columnstretch="0,1">
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
<property name="suffix">
<string> m</string>
</property>
@@ -2489,10 +2482,37 @@
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
<double>0.000000000000000</double>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<property name="text">
<string>Radius Min</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_32">
<property name="text">
<string>Intra-session</string>
</property>
</widget>
</item>
<item row="7" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_29">
<property name="text">
@@ -2500,6 +2520,13 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_angle">
<property name="suffix">
@@ -2519,10 +2546,22 @@
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_30">
<property name="text">
<string>Angle</string>
<item row="0" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radius">
<property name="suffix">
<string> m</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>1.000000000000000</double>
</property>
</widget>
</item>
@@ -2539,6 +2578,13 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_31">
<property name="text">
@@ -2546,19 +2592,6 @@
</property>
</widget>
</item>
<item row="6" column="0">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<widget class="QLabel" name="label_34">
<property name="text">
@@ -2566,13 +2599,6 @@
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_intraSession">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_detectMore_interSession">
<property name="text">
@@ -2580,29 +2606,23 @@
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_36">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_opt_graph_as_guess">
<property name="text">
<string>Radius Min</string>
<string/>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QDoubleSpinBox" name="doubleSpinBox_detectMore_radiusMin">
<property name="suffix">
<string> m</string>
<item row="6" column="1">
<widget class="QLabel" name="label_37">
<property name="text">
<string>Use optimized graph as guess</string>
</property>
<property name="decimals">
<number>2</number>
</property>
<property name="maximum">
<double>10.000000000000000</double>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
<property name="value">
<double>0.000000000000000</double>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
@@ -2613,8 +2633,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>185</width>
<height>485</height>
<width>432</width>
<height>196</height>
</rect>
</property>
<attribute name="label">